/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

class ActionTest : public ArAction
{
public:
  ActionTest(double turnAmount, double speed);
  virtual ~ActionTest(void) {}
  virtual ArActionDesired *fire(ArActionDesired currentDesired);
  
protected:
  ArActionDesired myActionDesired;
  double myTurnAmount;
  double mySpeed;
};

ActionTest::ActionTest(double turnAmount, double speed) :
  ArAction("ActionTest")
{
  myTurnAmount = turnAmount;
  mySpeed = speed;
}

ArActionDesired *ActionTest::fire(ArActionDesired currentDesired)
{
  myActionDesired.reset();
  if (fabs(mySpeed) > 1)
    myActionDesired.setVel(mySpeed);
  if (fabs(myTurnAmount) > 1)
    myActionDesired.setDeltaHeading(myTurnAmount);
  return &myActionDesired;  
}

int main(int argc, char **argv)
{

  std::string str;
  int ret;
  ArTcpConnection con;
  ArRobot robot;

  ActionTest at1(-50, 333);
  ActionTest at2(25, 666);
  ActionTest at3(25, 0);
  ActionTest at4(0, -999);

  Aria::init();
  
  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    Aria::shutdown();
    return 1;
  }

  robot.setDeviceConnection(&con);
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  robot.addAction(&at1, 100);
  robot.addAction(&at2, 100);
  robot.addAction(&at3, 100);
  robot.addAction(&at4, 100);

  robot.run(true);
  Aria::shutdown();
  return 0;



}
